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Best Tent Camping near Roberts, WI

598 Reviews
CAMPER SUMMARY PRESENTED BYFord

The St. Croix River Valley contains numerous tent campgrounds near Roberts, Wisconsin, providing varied settings for outdoor enthusiasts. Notable locations include Afton State Park Campground, located 40 minutes from Minneapolis-St. Paul, offering secluded backpacking sites approximately one mile from the parking area. William O'Brien State Park also provides tent camping with both drive-in and walk-in options, situated along the St. Croix River.

Walk-in tent sites are a prominent feature of the area's camping landscape. Many sites require a moderate hike from the parking area, with some trails including challenging uphill sections. At Afton State Park, tent campers should be prepared for a one-mile trek with a steep incline toward the end, making lightweight packing essential. Most walk-in tent areas provide basic amenities including vault toilets, fire rings, and picnic tables. Several campgrounds offer drinking water via solar-powered pumps or wells, though availability varies seasonally. Firewood is typically available for purchase, with some locations requiring campers to cut their own wood using provided tools.

The region's tent-only areas create opportunities for more immersive natural experiences compared to developed campgrounds. Sites are typically well-spaced, offering privacy even during busier periods. Prairie and wooded options exist, with some tent pads located on elevated gravel surfaces surrounded by forest. Wildlife sightings commonly include deer, wild turkeys, and various bird species. Access to extensive trail networks makes these locations ideal for hikers seeking longer adventures. According to one visitor, "The park has rolling hills throughout and some of the hikes can be deemed as difficult. We went up and down ravines and got in a beautiful hike and workout."

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Best Tent Sites Near Roberts, Wisconsin (20)

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Tent Camping Reviews near Roberts, WI

598 Reviews of 20 Roberts Campgrounds

  • Kelly S.
    May. 2, 2018

    Frontenac State Park Campground

    Early Season Experience

    We spent a single night here at site 37. The site was great, the privacy was okay, and the campground itself was slightly above average.

    Our site was huge. It could have easily accommodated an RV and a tent. There was a campfire ring and picnic table there like each site, but ours also had a tent pad and a very long parking spot. We were tent camping. This was the first tent pad I have ever been able to stake down without bending or breaking stakes and needing a mallet. The site was also close to a few of the trailheads. See pictures. Would recommend site 37 any day.

    The privacy was nonexistent because there were no leaves on the trees yet. In the summer, that might change. There are trees between sites.

    The campground itself was okay. The ranger and lady in the office when we stopped in were a little strange, but helpful. They were out of wood, but there is a DNR certified seller not a mile down the road- you can get more wood for cheaper there anyway. In MN, you need to get your firewood from the state park you are at or a certified seller in the same county to prevent the spread of tree pests and disease. The ranger can and will stop at your site and ask to see your seller card from the wood. The rest of the campground was nice. Many water spigots were still frozen, but there isn't much to be done about that. Overall, I would definitely recommend this campground!

  • Katherine T.
    Oct. 11, 2024

    Wild River State Park Campground

    Solid option with star gazing

    This is a solid state park offering. The sites are decently spaced with good tree cover. Noise seemed to travel between sites, I had some loud neighbors during the day but they settled down before quiet hours. The grass was easy to get tent stakes into. Bathrooms were your basic state park situation. Clean with warm showers so no complaints from me. The star gazing area was great! Intermittently had 1-2 bars of T-Mobile with LTE Internet. Wi-Fi is available at the park entrance.

  • Lee D.The Dyrt PRO User
    Jan. 12, 2025

    Highland Ridge

    Beautiful but buggy!

    General: Smallish (38 sites plus four walk-in sites) Army Corps of Engineers campground. Some (see below) have electric hookups but no water or sewer hookups, however, there is a dump station. 

    Site Quality: All sites are gravel/dirt (except for the ADA-accessible site), and most are very generous in size. Our site (7) sloped down but leveled out with plenty of room for our campervan at the bottom. All sites are wooded with trees providing separation/privacy between sites. Completing the site are a metal picnic table, fire ring, and lantern hook. 

    Bath/Shower House: Sites 28-38 only have vault toilets (but you could trek to the other campground loop). Sites 1—27 have flush toilets and showers. They were very clean, and I especially appreciated the fact that they were cleaned daily before 6 am, a shout out to the camp host! The shower was great– warm water and great flow, although our friends (who arrived two days before we did) had cold showers when the campground was full.

    Activities: Several short hiking trails. I give this campground 4 stars instead of 5 because Eau Galle Reservoir (Lake George) is about a 10-minute drive from the campground. Most Corps of Engineers campgrounds are located right on the water. There are no amenities (rentals, etc.) offered at the lake but it is small and beautiful, and we enjoyed a peaceful paddle. We saw a couple of people fishing on the lake and there is a small swimming area. At the campground, there was an interpretive center, but it was locked when we were there. There is also a nice, modern playground. 

    Aside from the plentiful bugs (in August), we enjoyed our two-night stay at this campground!

  • Amy G.The Dyrt PRO User
    Aug. 30, 2021

    Rice Creek Campgrounds

    Spaced out nicely and they have a tent only loop!

    I booked this on a whim since we needed an overnight close to the State Fair.  I loved the look of the "TENT ONLY" loop - you don't see this often - so it was a good fit.  Seemed that the whole campground was booked up and I assumed, for a similar reason.  The State Fair.

    Booking was fairly easy through their website, and you can "hover" over the sites to see a photo of it.  I chose the one I wanted and hoped it would be what we wanted it to be.

    You DO need a park pass to stay at the campground.

    We arrived after dark, but in the dark you could still tell it was lovely.  I couldn't see any neighbor on the one side where there was a campsite (the other was a field...which is why I chose it). So we set up a tent, enjoyed the last of the evening and crawled into our bags.

    In the morning, when I could see everything, I was thoroughly impressed by the space, the maintenance of the property, the size of the campsites.  All of them were impressive and big!  A few were only separated by swathes of grass, but most had enough trees you couldn't see your neighbor.  And the fact that this loop (F LOOP) was "tent only" meant no generators! It was very quiet!   There were port-o-potties (cleaned about every 3 days) and a centrally located water source (potable) that was in the middle of everything for easy access by everyone. The spaces seemed fairly level, lots of mature trees, fire rings at all of them (with cooking grates that flipped out of the way) and picnic tables at most (resin tables, not wood).

    I took a quick look at the other loops.  The tent/small trailer loop didn't appear to have electric either.  And the RV loops obviously did.  All were very nice!  And there is a shower house (didn't go in) that was for all to use if you had a site.

    We'd stay here again in a heartbeat.

    **I've seen the other reviews here which seem to be based on the bugs.  I know that bugs are part of camping, so I don't review based on that, but I'll add details, if needed.  This one didn't have many, but it was raining, so I'm sure that factored in.  When I camp, I come prepared and I try to focus on reviewing the campsite itself, not the bugs, which I can not control.  I can, however, come prepared for them**

  • Crystal B.The Dyrt PRO User
    Oct. 29, 2025

    Kruger Unit - RJD Memorial Hardwood State Forest

    Great area with a lot of activities in the area.

    This is a nice basic campground near Wabasha/Kellogg area. Mississippi is within a few miles. Lark Toys nearby also. The Zumbro River is at the bottom of the campground on opposite side of the road where you can put kayaks/canoes in. (Or swim or fish). Sites are nice size with some having more privacy than others. Campground is on top of/up the hill. Vault toilets. No showers. Fire rings and picnic tables present.

  • Mary S.
    Aug. 16, 2018

    Frontenac State Park Campground

    Shady, quiet campground in the woods with short hiking opportunities

    Campground Design

    I like that it's split into 4 small loops (1-11, 12-28, 29-38 and 39-59). There shouldn't be much traffic in any one loop. It's a very shady campground - lots of trees so it's quite dark at night with no stargazing from your site.

    Our site #42 was right next to #40 and there's not much privacy between the 2 sites. There's a lot more distance and privacy between #42 and #44. In general, sites are fairly close together but there are some trees in between.

    I thought we might be closer to the Mississippi River, but the campground is located above the river (called Pepin Lake at this wide point). You can hike down to the river; the steep descent makes the short hike more interesting. There are Lower and Upper Bluff trails as well as other short, connected trails throughout the park. (See photo of trail map.)

    Tent Campers

    There are 6 'cart in' sites, but they are about 1/2 mile away from the main campground and on the other side of the road. Park, put your gear in a cart, and walk about 1/4 mile to your site (C1 through C6). 

    Special rule for these sites: You have to pay $2 to use the showers at the main campground! Your camping rate is $15 instead of $23 for a non-electric site. If a cart in site doesn't appeal to you, the regular sites are good for tents; many have tent pads. There are also a couple backpacker sites.

    Amenities

    • Picnic table and fire ring on each site. Some sites have a tent pad. The 'rule of 3' says you can have 3 'units' on a site - 2 tents + vehicle, RV + rent +vehicle,... - One restroom with flush toilets, sinks and showers (old but no temperature control) located near the road in front of the loop with sites 12-28. We were in the last loop on site 42, and there was a pit toilet that smelled okay but had lots of flies.

    • Some electric sites ($31) in the first 2 loops; the map (see photo) has an 'e' next to the site number and so does the post at the site.

    • Dump station that includes a potable water filling station. There are water spigots in the camping areas.

    • Trash dumpsters and recycle bins.

    Extra fees

    • There's a $7 reservation fee for online or phone reservations, and the site posts indicate you need to 'reserve' the site before you set up camp.  You avoid that fee by showing up without a reservation when the office is open, but I wouldn't do that on a Friday or Saturday in the summer. You can always get a sense of whether showing up without a reservation is feasible by checking availability online. It also looks like you avoid the fee if you reserve online on the day you stay.

    • $7 entry fee per day is standard in MN parks. A $35 pass is good for 12 months.

  • D
    Sep. 19, 2020

    Wild River State Park Campground

    Great spot for first time camping

    This was my first time camping EVER, and I wanted a balance of car camping ease with quiet wilderness. I stayed in the E loop. No electric sites, which cut down the number of big rig RVs, but there were plenty of small campers and trailers. To me, this means louder guests than tent campers. That said, people tended to quiet down by 9-10p. There was occasional noise during the day from crop dusters and motorized boat traffic on the St. Croix.

    Site 87 had nice privacy — less between sites 87 and 89 and much more between 87 and 85 (see photos). Site 89 is a double site, so be prepared for a little more activity if someone books there. If I went again, I'd try to snag site 85. Large trees and vegetation between sites, especially on the outside loop. Plenty of space for hammocks. The site itself was level and very spacious. We had a five person tent and could have put up a bug house easily. The fire pit was clean and had a grate on top. Pit toilets were clean and had plenty of toilet paper, especially for the end of a holiday weekend. Bugs were minimal, but could have been because the weather was on the cooler side (50s-60s).

    A couple random notes:

    • Firewood is $6/bundle. Self-pay available if the ranger station is closed. Bring exact change since you'll be paying by envelope.

    • The ranger station was open for window service, and they sold fire starters, soda, t-shirts, etc. Not sure when hours are exactly. They were open when I went around 3-4p Sunday and Monday to buy wood.

    • Cell reception for T-Mobile was minimal to non-existent.

  • amber N.
    Sep. 1, 2019

    Wild River State Park Campground

    Secluded, River Front Buck Hill Site

    Backpack site Buck Hill is right on the river, beautiful view to the east. Circled by flowers (goldenrod in the late summer), brush and trees. End of the path so zero foot traffic / passersby. Fine size for us but if you had two tents maybe tight. Fire ring and picnic table of course. No drinking water (we brought a bladder). It’s a great place to star gaze. There’s a teeny somewhat treacherous path to the river- no beach or anything (water was super low when we went) - Just can get your feet wet.

    Down the path a little bit is an unenclosed toilet - not the best. The other direction down the path (only about 20 ft) is a smallish bear box.

    You can harvest your own wood (at this time) and that was really great - bring a backpacking saw!

    Only downside to the site— you can hear cars on both sides (river and opposite side of forest).

    It was a 2.37 mile walk from the parking lot, mostly shaded.

    Side note: we checked out Deer Creek site which is much closer to the car. It is a hike in / canoe site. It’s wayyy more spacious, and even has two separate clearings. Also has cool stairs down the to water, and a much more expansive view of the river. We will be staying there next time! We want to take a few days to canoe the whole length of the park, camping along the different sites. Next year! :)

  • Jennifer H.
    Sep. 21, 2020

    Afton State Park Campground

    New groomed backpack trails

    Site 27. This is a river landscape. Spiders and snakes..oh my. The parking lot is paved and has a dumpster. This is also where the nature center is. There are often music festivals and family events here. It is also next to Afton Ski resort. This park has a lot of beautiful prairie landscape with some temperate forest features. Wildflowers, shrubs, fungi, evergreens, and deciduous trees. Backpacking to the top hill sites has gotten easier as the park has curved the new wide groomed and wood chipped trail to spiral around the hill instead of a straight climb. There is a solar panel generated drinking water pump at the top and a honor system fire wood station. There is a bathroom, but not super close to this site. This site has a fire pit with grate and table but no bear box. This site does have a clear view to the trail and the site next to it, but it is set back a little bit. I can hear the joggers along the trail that wraps around the site. The sites are mapped out on a wide open prairie ground with some sites tucked back in the trees along the trail. There is not a water front view, but there is plenty of wildlife. The dear and flowers are beautiful. There is partial tree covering but we did bring a tarp for the rain.

Guide to Roberts

Tent camping near Roberts, Wisconsin offers walk-in experiences ranging from prairie settings to wooded riverside areas. The St. Croix River Valley's terrain features varying elevations with some campgrounds requiring hikes of 5-10 minutes from parking areas to campsites. Summer temperatures typically range from 75-85°F during daytime hours, with cooler evenings around 55-65°F, making sleeping conditions comfortable with proper gear.

What to do

Explore riverside trails: At William O'Brien State Park Campground, hikers can access numerous trails showcasing diverse ecosystems. "We loved the trails. It was easy to takes hikes of varying lengths. There were so many different kinds of birds, and the wildflowers were blooming and ferns were unfurling -so many shades of green!" notes Karla J.B.

Swimming and lake activities: Many campgrounds provide water access for cooling off during summer months. At Afton State Park Campground, "Highlight of this location is beach which is nice for swim and sun bath. But beach isn't motor vehicle accessible so expect 5-10 min walk," according to Alison.

Wildlife observation: Bring binoculars for spotting local animals. "We heard bullfrogs, owls, woodpeckers and more," states Beth W. about her experience at Hok-Si-La City Park. Early morning and dusk offer the best wildlife viewing opportunities across the region's parks.

Seasonal activities: Winter camping options exist at several parks for hardy adventurers. "I visited William O'Brien in the middle of February with two college roommates. As you can imagine, this meant snow was everywhere in the heart of winter in Minnesota," shares David K., who enjoyed winter hiking and cabin accommodations.

What campers like

Privacy between sites: At Hok-Si-La City Park & Campground, tent campers appreciate the site layout. "The campsites are wooded and have enough distance between them that noise is minimal," mentions Anne T. This park offers tent-only camping without RVs, creating a quieter atmosphere.

Access to water features: Campers consistently mention appreciation for riverside and lakeside locations. "The lake is pretty, but I'm picky and chose not to swim in it," notes Krista T. about Lily Springs Regenerative Farm, indicating that water quality varies across different locations.

Unique amenities: Some campgrounds offer unexpected features beyond standard facilities. "The fire ring had plentiful stacks of firewood closeby, and there was also an electrical outlet (which was an unexpected surprise!)" reports Krista T. about her stay at Lily Springs Regenerative Farm.

Natural diversity: The range of landscapes within individual parks allows for varied experiences. "This is a great place to see all the various landscapes of the St. Croix River Valley," writes Jason S. about William O'Brien State Park, noting that even parks close to urban areas offer substantial natural features.

What you should know

Seasonal water limitations: Water availability changes throughout the camping season. "None of the water faucets or water pumps on the trails at Afton State Park are working. The good news is you can fill up on cold drinking water at the visitor center before trekking around the park's beautiful hiking trails!" warns Warren H. Always check current conditions.

Firewood systems: Several campgrounds have unique firewood arrangements. "They do have firewood available however it is long slab wood, so you do need to cut it yourself. Hand hacksaws are provided, but we're not great quality which made cutting the wood difficult," explains Adam P. about Afton State Park.

Parking restrictions: Many campgrounds separate vehicles from tent sites. At Apple River County Park Campground, you'll find "simple campsites geared towards tent camping, though 5 of the sites are equipped with electricity so folks with vans or small trailers might be comfortable here," according to Janet R., indicating mixed parking arrangements.

Cell service limitations: Connectivity varies significantly across the region. "Cell reception for T-Mobile was minimal to non-existent. Wifi is available in the visitor center parking lot," shares Dani K. about William O'Brien State Park, suggesting campers should plan accordingly for limited communication.

Tips for camping with families

Choose sites with kid-friendly features: Camp Sacajawea Retreat Center offers "Great place to take kids, good 1st camping experience for bonfires and single night camping," according to Megan L. Look for locations with shorter trails and established facilities.

Consider campground scheduling: Weekday camping provides more space and quiet. "My first time solo camping was at William O'Brien State Park on a Sunday evening. Weekends have been packed and reservations scarce for months at state parks in Minnesota. Arriving on a Sunday afternoon was a dream—very few people in the campground loop," reports Dani K.

Pack for wildlife encounters: Wildlife can be both entertaining and challenging. "Raccoons will visit your site at night. We had everything secured but they still tried and plenty of racket until we chased them away," warns Tim about William O'Brien State Park.

Bug preparation: Insect levels vary by location and season. "Lastly we had a battle with mosquitoes. We went through a lot of bug spray and coils. Deer flies were thick around the water filling station," notes Tim, highlighting the need for thorough insect protection, especially with children.

Tips from RVers

Electric hookup availability: RV camping options in the area tend to be limited but do exist. At Tony's Backyard, electric hookups are available but the space accommodates only a single site, making early reservations essential for RV campers seeking electricity.

Size limitations: Most campgrounds in the region cater to tent campers or smaller RVs. "This is a small county campground with 15 simple campsites geared towards tent camping, though 5 of the sites are equipped with electricity so folks with vans or small trailers might be comfortable here," explains Janet R. about Apple River County Park Campground.

Site access considerations: RV campers should carefully research accessibility before booking. "The park has rolling hills throughout and some of the hikes can be deemed as difficult. We went up and down ravines," which may indicate challenging access for larger vehicles at some locations.

Frequently Asked Questions

Which is the most popular tent campsite near Roberts, WI?

According to TheDyrt.com, the most popular tent campground near Roberts, WI is Afton State Park Campground with a 4.6-star rating from 37 reviews.

What is the best site to find tent camping near Roberts, WI?

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